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    <a href="#issue-147450992" class="timestamp"><relative-time title="12 Apr 2016 12:39 am AEST" datetime="2016-04-11T14:39:14Z">on 12 Apr</relative-time></a>
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    <a href="#issuecomment-208516414" class="timestamp"><relative-time title="12 Apr 2016 5:29 am AEST" datetime="2016-04-11T19:29:24Z">on 12 Apr</relative-time></a>
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<p>The mapping is working, but in some point the pointcloud suddenly returns to the initial position and I get this error:</p>

<pre><code>  laserOdometry: /build/buildd/pcl-1.7-1.7.1/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:136: int pcl::KdTreeFLANN&lt;PointT, Dist&gt;::nearestKSearch(const PointT&amp;, int, std::vector&lt;int&gt;&amp;, std::vector&lt;float&gt;&amp;) const [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple&lt;float&gt;]: Assertion `point_representation_-&gt;isValid (point) &amp;&amp; "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed.
    [laserOdometry-2] process has died [pid 10107, exit code -6, cmd /home/vicky/catkin_ws/devel/lib/loam_velodyne/laserOdometry __name:=laserOdometry __log:=/home/vicky/.ros/log/580f7db4-ffc0-11e5-aee2-74d4358625bb/laserOdometry-2.log].
    log file: /home/vicky/.ros/log/580f7db4-ffc0-11e5-aee2-74d4358625bb/laserOdometry-2*.log
    [laserOdometry-2] restarting process
</code></pre>

<p>I think when a keypoint from the registration process is not found, 
then the node laserOdometry node crashed and restart, then the mapping 
does not work because it does not continue in the same position as 
before, however it start again from the initial position.</p>

<p>When you run your example:</p>

<pre><code>roslaunch ~/catkin_ws/src/loam_velodyne/launch/loam_velodyne.launch
rosbag play ~/Downloads/nsh_indoor_outdoor.bag 
</code></pre>

<p>do you obtain the same error?</p>

<p>How can I avoid this error? Many thanks in advance.</p>
</blockquote>

<p>I have the same errors with the nsh bag.<br>
Works great with sample <a href="https://midas3.kitware.com/midas/folder/12979">VLP16 data</a></p>
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    <a href="#issuecomment-208521850" class="timestamp"><relative-time title="12 Apr 2016 5:41 am AEST" datetime="2016-04-11T19:41:36Z">on 12 Apr</relative-time></a>
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<p>Is this a version you wrote or is it the original implementation or did you piece it back together from the help pages?<br>
Did you write the package and launch file?</p>
</blockquote>

<p>I've created package and launch file. I've also modified 
scanRegistration.cpp to get it to work with my VLP16 (I think originally
 it was for HDL32 )</p>
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    <strong>
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    commented

    <a href="#issuecomment-214823352" class="timestamp"><relative-time title="27 Apr 2016 3:40 am AEST" datetime="2016-04-26T17:40:11Z">19 days ago</relative-time></a>
        •
        <span class="timestamp timestamp-edited tooltipped tooltipped-n" aria-label="ZepherusFF edited this comment 18 days ago">
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          <p><a href="https://github.com/laboshinl" class="user-mention">@laboshinl</a> Do you know if it saves the map generated anywhere? and if not, are you planning on modifying it so it does?</p>
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    commented

    <a href="#issuecomment-214934842" class="timestamp"><relative-time title="27 Apr 2016 11:03 am AEST" datetime="2016-04-27T01:03:50Z">18 days ago</relative-time></a>
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          <p>When I build with catkin "source 
~catkin_ws/devel/setup.bash", there is an error "bash: 
~catkin_ws/devel/setup.bash: No such file or directory". Please help me 
to solve it. Thank you. <a href="https://github.com/laboshinl" class="user-mention">@laboshinl</a> </p>
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    commented

    <a href="#issuecomment-215019811" class="timestamp"><relative-time title="27 Apr 2016 7:07 pm AEST" datetime="2016-04-27T09:07:52Z">18 days ago</relative-time></a>
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          <p>Hi <a href="https://github.com/DamonMIN" class="user-mention">@DamonMIN</a> did you setup your catkin workspace correctly based on the ROS documentation ? Do you have the file in that directory ? </p>
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    <strong>
      <a href="https://github.com/DamonMIN" class="author">DamonMIN</a>
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    commented

    <a href="#issuecomment-215023308" class="timestamp"><relative-time title="27 Apr 2016 7:17 pm AEST" datetime="2016-04-27T09:17:42Z">18 days ago</relative-time></a>
        •
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          <p>Hi@ZepherusFF <br>
I have the "setup.bash" file in the folder ~catkin_ws/devel. The following text is the content of this file.<br>
////////////////////////////////////////////////////////////////////<br>
#!/usr/bin/env bash</p>

<h1>generated from catkin/cmake/templates/setup.bash.in</h1>

<p>CATKIN_SHELL=bash</p>

<h1>source setup.sh from same directory as this file</h1>

<p>_CATKIN_SETUP_DIR=$(builtin cd "<code>dirname "${BASH_SOURCE[0]}"</code>" &gt; /dev/null &amp;&amp; pwd)<br>
. "$_CATKIN_SETUP_DIR/setup.sh"<br>
///////////////////////////////////////////////////////////////////</p>
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    <strong>
      <a href="https://github.com/laboshinl" class="author">laboshinl</a>
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    commented

    <a href="#issuecomment-215064742" class="timestamp"><relative-time title="27 Apr 2016 10:18 pm AEST" datetime="2016-04-27T12:18:10Z">18 days ago</relative-time></a>
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          <p><a href="https://github.com/DamonMIN" class="user-mention">@DamonMIN</a>  You have missed "/"</p>

<pre><code>laboshinl@rtc ~/catkin_ws $ source ~catkin_ws/devel/setup.bash 
bash: ~catkin_ws/devel/setup.bash: No such file or directory
</code></pre>

<pre><code>laboshinl@rtc ~/catkin_ws $ source ~/catkin_ws/devel/setup.bash 
</code></pre>
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    commented

    <a href="#issuecomment-215067765" class="timestamp"><relative-time title="27 Apr 2016 10:32 pm AEST" datetime="2016-04-27T12:32:38Z">18 days ago</relative-time></a>
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          <p><a href="https://github.com/laboshinl" class="user-mention">@laboshinl</a> <br>
###In second terminal play sample velodyne data from VLP16 rosbag:<br>
rosbag play ~/Downloads/2014-11-10-10-48-31_Velodyne-VLP_20Hz_Hecker Pass.pcap<br>
[ INFO] [1461760124.789037514]: Opening /home/aicrobo/Downloads/2014-11-10-10-48-31_Velodyne-VLP_20Hz_Hecker<br>
[FATAL] [1461760124.789397586]: Error opening file: /home/aicrobo/Downloads/2014-11-10-10-48-31_Velodyne-VLP_20Hz_Hecker</p>

<h3>read from velodyne VLP16 sample pcap:</h3>

<p>roslaunch velodyne_pointcloud VLP16_points.launch 
pcap:="/home/aicrobo/Downloads/2014-11-10-10-48-31_Velodyne-VLP_20Hz_Hecker
 Pass.pcap"<br>
[VLP16_points.launch] is neither a launch file in package [velodyne_pointcloud] nor is [velodyne_pointcloud] a launch file name<br>
The traceback for the exception was written to the log file</p>

<p>It seems that the launch file can't find or recognize the velodyne data(The data was downloaded from VLP16 sample pcap).</p>
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    commented

    <a href="#issuecomment-215070222" class="timestamp"><relative-time title="27 Apr 2016 10:44 pm AEST" datetime="2016-04-27T12:44:12Z">18 days ago</relative-time></a>
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          <p>You should compile velodyne driver<br>
<a href="https://github.com/ros-drivers/velodyne/tree/master/velodyne_pointcloud">https://github.com/ros-drivers/velodyne/tree/master/velodyne_pointcloud</a></p>
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      <a href="https://github.com/ZepherusFF" class="author">ZepherusFF</a>
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    commented

    <a href="#issuecomment-215072718" class="timestamp"><relative-time title="27 Apr 2016 10:54 pm AEST" datetime="2016-04-27T12:54:01Z">18 days ago</relative-time></a>
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          <p><a href="https://github.com/DamonMIN" class="user-mention">@DamonMIN</a>  For the VLP16 you need to compile yourself the driver </p>
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